WO1998026350A1 - Systeme de traitement de donnees redondant avec deux controleurs logiques programmables fonctionnant en tandem - Google Patents

Systeme de traitement de donnees redondant avec deux controleurs logiques programmables fonctionnant en tandem Download PDF

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Publication number
WO1998026350A1
WO1998026350A1 PCT/IB1997/001452 IB9701452W WO9826350A1 WO 1998026350 A1 WO1998026350 A1 WO 1998026350A1 IB 9701452 W IB9701452 W IB 9701452W WO 9826350 A1 WO9826350 A1 WO 9826350A1
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WO
WIPO (PCT)
Prior art keywords
controller
master
data processing
processing system
state
Prior art date
Application number
PCT/IB1997/001452
Other languages
English (en)
Inventor
Abraham Johannes Antonius Maria Jansen
Antonius Marie Meuwissen
Behzat Eren
Frederick Hans Heutink
Original Assignee
Koninklijke Philips Electronics N.V.
Philips Norden Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips Electronics N.V., Philips Norden Ab filed Critical Koninklijke Philips Electronics N.V.
Priority to EP97910593A priority Critical patent/EP0886824A1/fr
Priority to JP10526411A priority patent/JP2000507019A/ja
Publication of WO1998026350A1 publication Critical patent/WO1998026350A1/fr

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/16—Error detection or correction of the data by redundancy in hardware
    • G06F11/20—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements
    • G06F11/202—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant
    • G06F11/2023—Failover techniques
    • G06F11/2025—Failover techniques using centralised failover control functionality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/16—Error detection or correction of the data by redundancy in hardware
    • G06F11/20—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/16—Error detection or correction of the data by redundancy in hardware
    • G06F11/20—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements
    • G06F11/202—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant
    • G06F11/2038—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant with a single idle spare processing component
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/16—Error detection or correction of the data by redundancy in hardware
    • G06F11/20—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements
    • G06F11/202—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant
    • G06F11/2048—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant where the redundant components share neither address space nor persistent storage

Definitions

  • Redundant data processing system having two programmed logic controllers operating in tandem.
  • the invention relates broadly to a redundant data processing system.
  • a data processing system as based on programmed logic controllers (PLC's) must meet stringent requirements with respect to availability, for being able to control sophisticated industrial and similar systems, inasmuch as failure of the overall system would often be a fatal incident. Under certain circumstances a few minor functions may fail, although anyway, the overall system should remain 'on'.
  • Tandemized data processing systems have been contemplated for some time, but the present invention intends to fill a need for such systems that are flexible, and moreover, may change between various operative conditions through external control as well through internally detecting various types of hazardous conditions.
  • the invention relates to a tandemized data processing system comprising a first and a second programmed logic controller and centralized governance means for alternatively governing one controller in a master state, whilst allowing the other controller in standby state, each controller being provided with a local powering facility and a local bus, and each local bus being attached via a respective bus interface element to a general bus provided with input/output subsystems.
  • a tandemized data processing system comprising a first and a second programmed logic controller and centralized governance means for alternatively governing one controller in a master state, whilst allowing the other controller in standby state, each controller being provided with a local powering facility and a local bus, and each local bus being attached via a respective bus interface element to a general bus provided with input/output subsystems.
  • the invention is characterized in that the system furthermore has a high-speed serial link between the first and second controller for communicating status signalizations from the master controller to the other controller, at least one of said buses being provided with local communication facilities for therewith consistently enabling operator interaction with any controller that is actually in said master state.
  • This solution allows for a low cost implementation, inasmuch as the communication facilities are present only once; the interaction may now proceed via the general bus and one of the local buses arranged in series.
  • each said local bus is provided with said local communication facilities for therewith consistently enabling operator interaction with any controller that is actually in said master state or in said standby state.
  • the added redundancy is only slight, but the added functionality allows interaction with the master controller as well as with the non-master controller, provided that the latter is in standby state.
  • each controller has detection means which are operational in an application program under execution, for in said execution detecting an appropriate stimulus, and for under control of said detecting undertaking immediate activation of the other controller, if in said standby state, in lieu of the actually operational controller. This feature allows for fast and smooth transfer of the master state to the other controller, if need be. Various situations would profit from such transfer.
  • said centralized governance means are provided with a guard circuit that has mirrored combinatory logic in either controller, and said system furthermore has cross-coupling means between the two controllers, said guard circuit furthermore having a first and a second state for in each thereof controlling a respective one of said controllers as master controller and the other controller in standby.
  • Such guard circuit has certain aspects of a flipflop provided with specific retrocoupling. Regardless of the state of either of the two controllers, a fail-safe operation can be guaranteed. Further advantageous aspects of the invention are recited in dependent Claims.
  • Figure 1 programmed logic controllers in tandem;
  • Figure 2 a guard circuit embodiment;
  • Figure 1 shows programmed logic controllers arranged and operating in tandem. This means that one of the logic controllers offers all necessary operational functionality as seen from an object to be controlled, but in dependence of various conditions, either one of them can be rendered operational to carry all processing load, the other one being standby to take over when particular changes will occur. If the other controller is for some reason temporarily or permanently disabled, the system may remain operational, be it with lessened robustness. Various such conditions will be explained hereinafter.
  • the first controller comprises a bus interface 26, a central processing unit or programmed logic controller 28, local communication facilities 30, powering 32, and a local bus 34.
  • the second controller likewise comprises elements 36, 38, 40, 42, 44.
  • the two controllers have as shared facilities I/O subsystems 22, 24 and a general serial bus 20.
  • buses 20, 34, 44 have five parallel channels, for clock, data, and three control signals, respectively.
  • each I/O subsystem has its own powering facilities.
  • the system comprises high-speed serial link 50 that interconnects the two programmed logic controllers 28, 38; preferably, according to the ethernet standard. In this way, one of the two controllers can be in master mode, whereas the other then is in standby mode, while always allowing the controllers to exchange information via the high speed bus 50.
  • the high-speed and bidirectional serial link 50 transfers certain information regarding the internal state of the master controller, and including such things as I/O-related information, to the other controller. This allows the other controller, as long as it is standby, to be able to immediately take over from the master controller.
  • each interface circuit 26, 36 contains a hardware switch, hardware-linked through link 27, for coupling exactly one of the controllers to the general bus 20.
  • the control of the link is by centralized governance, and in particular by a distributed guard circuit that has respective parts 29, 39 in the controllers, linked symbolically by interconnection 31, the state of which controls link 27.
  • communication facilities 30, 40 are replaced by a single instance 41 that is connected to general bus 20. In this manner, user communication with the actual master controller is guaranteed.
  • the providing of two separate communication facilities renders the whole arrangement more flexible.
  • Figure 2 is a first embodiment of the distributed guard circuit.
  • the upper half of the Figure, as delimited by the row of interconnection terminals 90-100 forms part of the first or 'A' controller.
  • Switch 102 is a manual switch in an intermediate region and is independent of both 'A' and 'B' controllers; it may be located on the front panel of one of them. In a practical embodiment, the switch is activated by a manual key that can be inserted into a specially provided keyhole. Rotating the key by hand will produce either the upper position or the lower one, but releasing of the key will by means of an appropriate spring, bring it immediately to the central position. This is therefore the default situation.
  • the A controller may raise input 60 to signal its own readiness. Via resistor 62 this is signalled to NAND 64. If NAND 64 receives three high signals, its output is inverted in item 66, so that an AM ASTER signal is produced on output 68. A BMASTER signal received on terminal 98 would, after a 50 nsec delay in item 84 and inversion in level discriminator 86, subsequently permanently block the generating of the AM ASTER signal, and vice versa. A BREAD Y signal arrives via terminal 92 at NAND 72. As long as the other input of NAND 72 is low, this has no effect on the operation of NAND 64. In this respect, the central position of switch 102 is decisive, because then the output of item 78 is always false, which means that NAND 72 will always produce a true output.
  • a 'ready' status of the B controller means that this controller is available to be made master, if the A controller would stop being master, and vice versa;
  • Figure 4 shows the processing of the syscon signal, which as explained supra, is used for crosscoupling the readiness signals between the two controllers.
  • Input 130 receives the AMASTER signal (68 in Figure 2).
  • Input 132 receives the BENABLE signal. Inversion of the latter in inverter 120 is AND ED in gate 122. This represents the hardware branch. The remainder of the arrangement represents the software branch.
  • Reset register 128 is fed by the databus as shown. Furthermore, it stores the AREADY signal received on input 134 and the AENABLE signal received on input 135. In this way, by means of the data bus, the firmware signal FW-SYSCON-enable is activated. The latter is ORED in gate 124 with the output from AND 122, thereby constituting the SYSCON signal. The latter is in NAND gate 126 combined with signal AREADY received on input 136, for outputting on output 138. The latter is processed as described supra.
  • Figure 5 gives the relation between the redundancy states; the persistent states are the Redundant STATE 114 (one controller operative, the other standby: this offers the possibility to change to the other controller such as by activating switch 102 in Figure 2), and 112 (one controller operative, the other down).
  • Change-over STATE 116 under control of change-over requested such as by an operator, OR Error in Master; the latter offers the possibility to immediately change-over to the other controller, provided that the latter is standby indeed.
  • Return is under control of Change-over successful.
  • Exit from 114 to Solo STATE 112 is under control of Error in Standby OR Patch/download requested, for example, if a new program must be downloaded.
  • Exit from 116 to 112 is under control of Error in Standby.
  • Persistence in 112 is under control of No control program present: in this state, no data transfer takes place between the two controllers.
  • State 112 is left to Standby Activation STATE 110 under control of (Re)Start Standby, return is under control of Error. Exit from 110 to 114 is under control of Update complete.
  • 112 and 114 are user states, the other two operate as intermediate states, that in principle are invisible to a user. Therefore, downloading is always effected on the standby controller. Stopping of the application is only done on the standby controller; if the master would stop, both controllers would become redundant.
  • State 112 may be caused on any of the following preconditions:
  • controllers lack a control program
  • Block 140 represents a particular controller in standby non-master (redundant) state and in RUN mode. If the controller receives a stop command, that allows standby, the controller goes to block 142, going in SOLO state and STOP mode. If the controller is ready to receive an application program or the like ('ready for download'), in block 144 the 'hot start' is checked. If yes, the program is downloaded in standby state, whereupon the controller in question is again standby in a redundant state, and in RUN mode (like in block 140). If now, manual switch 102 in Figure 2 is switched over, the controller in question assumes master state and RUN mode. In principle, now the system is operable as long as feasible.
  • block 152 the need for an automatic switch is detected. If so, the controller in question assumes master state and executes an automatic start from the init_task facility (cold start). Thereupon, the controller in question functions as MASTER controller in solo State and RUN mode (block 160). This optionally also controls a switch-over to the other controller with a download start action.
  • the controller executes a download in standby, which results in being the Standby controller in the Solo state and STOP mode, as in blocks 142, 150.
  • a switch-over may be initiated by the switch 102, like in the connection between blocks 146, 148: now, the particular output signals are reset. If so, the controller goes to block 158, and becomes MASTER controller in Solo state and STOP mode. This block is also attained if the detection in block 152 had a negative outcome. Subsequently, a start is executed, and the controller arrives in block 160. The state may prevail.

Abstract

Un système de traitement de données fonctionnant en tandem comprend un premier et un second contrôleur logique programmable, et un système de commande centralisé qui permet de commander alternativement un contrôleur dans un état maître tout en laissant l'autre contrôleur dans un état d'attente. Chaque contrôleur comporte un dispositif d'alimentation locale et un bus local. Il est attaché via un élément interface bus à un bus général comportant des sous-systèmes entrée/sortie. Le système comprend également une liaison série rapide entre les deux contrôleurs. En particulier, chaque bus local comporte un dispositif de communication locale permettant à l'utilisateur d'avoir des interactions suivies avec le contrôleur maître.
PCT/IB1997/001452 1996-12-13 1997-11-17 Systeme de traitement de donnees redondant avec deux controleurs logiques programmables fonctionnant en tandem WO1998026350A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP97910593A EP0886824A1 (fr) 1996-12-13 1997-11-17 Systeme de traitement de donnees redondant avec deux controleurs logiques programmables fonctionnant en tandem
JP10526411A JP2000507019A (ja) 1996-12-13 1997-11-17 直列式に動作する２台のプログラムドロジックコントローラを有する冗長データ処理システム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP96203533.3 1996-12-13
EP96203533 1996-12-13

Publications (1)

Publication Number Publication Date
WO1998026350A1 true WO1998026350A1 (fr) 1998-06-18

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Country Link
US (1) US6061601A (fr)
EP (1) EP0886824A1 (fr)
JP (1) JP2000507019A (fr)
WO (1) WO1998026350A1 (fr)

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US20040059862A1 (en) * 2002-09-24 2004-03-25 I-Bus Corporation Method and apparatus for providing redundant bus control
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EP0886824A1 (fr) 1998-12-30
US6061601A (en) 2000-05-09
JP2000507019A (ja) 2000-06-06

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